--- a/master/fsm_master.c	Wed Sep 19 17:32:39 2007 +0000
+++ b/master/fsm_master.c	Wed Sep 19 17:44:28 2007 +0000
@@ -60,6 +60,7 @@
 void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
 void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
 void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
+void ec_fsm_master_state_pdomap(ec_fsm_master_t *);
 void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
 void ec_fsm_master_state_end(ec_fsm_master_t *);
 void ec_fsm_master_state_error(ec_fsm_master_t *);
@@ -90,6 +91,7 @@
     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
+    ec_fsm_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
 }
 
 /*****************************************************************************/
@@ -105,6 +107,7 @@
     ec_fsm_sii_clear(&fsm->fsm_sii);
     ec_fsm_change_clear(&fsm->fsm_change);
     ec_fsm_coe_clear(&fsm->fsm_coe);
+    ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
 }
 
 /*****************************************************************************/
@@ -521,6 +524,29 @@
             return;
         }
 
+        // check, if slaves have their PDO mapping to be read.
+        list_for_each_entry(slave, &master->slaves, list) {
+            if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
+                || slave->pdo_mapping_fetched
+                || !slave->sdo_dictionary_fetched
+                || slave->current_state == EC_SLAVE_STATE_INIT
+                || slave->online_state == EC_SLAVE_OFFLINE) continue;
+
+            if (master->debug_level) {
+                EC_DBG("Fetching PDO mapping from slave %i via CoE.\n",
+                       slave->ring_position);
+            }
+
+            slave->pdo_mapping_fetched = 1;
+
+            // start fetching PDO mapping
+            fsm->idle = 0;
+            fsm->state = ec_fsm_master_state_pdomap;
+            ec_fsm_coe_map_start(&fsm->fsm_coe_map, slave);
+            ec_fsm_coe_map_exec(&fsm->fsm_coe_map); // execute immediately
+            return;
+        }
+
         // check for pending EEPROM write operations.
         if (ec_fsm_master_action_process_eeprom(fsm))
             return; // EEPROM write request found
@@ -1003,6 +1029,26 @@
 /*****************************************************************************/
 
 /**
+ */
+
+void ec_fsm_master_state_pdomap(
+        ec_fsm_master_t *fsm /**< master state machine */
+        )
+{
+    if (ec_fsm_coe_map_exec(&fsm->fsm_coe_map)) return;
+
+    if (!ec_fsm_coe_map_success(&fsm->fsm_coe_map)) {
+        fsm->state = ec_fsm_master_state_error;
+        return;
+    }
+
+    // fetching of PDO mapping finished
+    fsm->state = ec_fsm_master_state_end;
+}
+
+/*****************************************************************************/
+
+/**
    Master state: SDO REQUEST.
 */